Vehicle control method, device, vehicle and computer-readable storage medium

Abstract

The present application provides a vehicle control method, device, vehicle, and computer-readable storage medium. The method is applied to the field of vehicle technology. The vehicle includes a structure capable of varying ground clearance. The structure capable of varying ground clearance includes two front wheel assemblies and two rear wheel assemblies. By controlling the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies to rotate about a rotation axis, the positions of the front and rear axles are changed, thereby varying ground clearance. Therefore, upon receiving a command to adjust the vehicle's ground clearance, the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies are controlled to rotate about the rotation axis to adjust ground clearance, thereby improving the vehicle's passability and maneuverability in adverse road conditions, as well as its high-speed stability and comfort on flat roads.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more particularly, to a vehicle control method, device, vehicle, and computer-readable storage medium in the field of vehicle technology. Background Art

[0002] At present, the ground clearance of traditional vehicles is difficult to adjust. When the vehicle's chassis is too low, the vehicle's passing performance and maneuverability in harsh road conditions are poor, and the chassis is prone to scratches; when the vehicle's chassis is too high, the vehicle's high-speed stability and comfort on flat roads are poor, and traffic accidents are prone to occur.

[0003] Therefore, how to balance the vehicle's passing performance and maneuverability in harsh road conditions with its high-speed stability and comfort on flat roads has become an urgent problem that needs to be solved. Summary of the Invention

[0004] The present application provides a vehicle control method, device, vehicle and computer-readable storage medium, which can flexibly adjust the ground clearance of the vehicle, improve the vehicle's passing performance and maneuverability in harsh road conditions, and improve the high-speed stability and comfort of the vehicle on flat roads.

[0005] and a gear transmission assembly connected to the gear box and the gear assembly and having a plurality of gears connected thereto. The gear transmission assembly comprises a plurality of gears, the plurality of gears being connected to each other and a plurality of gears being coupled to the gear box and the gear assembly and having a plurality of gears being coupled to the gear box. The plurality of gears being coupled to the gear box and the gear assembly and having a plurality of gears being coupled to each other and a plurality of gears being coupled to each other

[0006] The method includes:

[0007] A control instruction for the vehicle is received; if the control instruction includes an instruction to adjust the ground clearance of the vehicle, then, for each front wheel assembly, a rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around a rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to adjust the ground clearance of the vehicle.

[0008] In the present application, a vehicle is provided that includes a structure capable of adjusting the vehicle's ground clearance. The structure comprises two front wheel assemblies and two rear wheel assemblies. Based on the structure capable of adjusting the vehicle's ground clearance, the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies can be controlled to rotate about a rotation axis, thereby controlling the wheels in the two front wheel assemblies and the two rear wheel assemblies to move eccentrically, thereby changing the position of the rotation axis in the two front wheel assemblies and the two rear wheel assemblies, that is, changing the position of the vehicle chassis, including raising the vehicle chassis to increase ground clearance or lowering the chassis to decrease ground clearance. Therefore, when a vehicle control command is received, and the control command includes a command to adjust the vehicle's ground clearance, the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies can be controlled to rotate about the rotation axis to change the position of the vehicle chassis, thereby adjusting the vehicle's ground clearance. This is beneficial for improving the vehicle's passability and maneuverability in adverse road conditions, as well as its high-speed stability and comfort on flat roads.

[0009] In combination with the first aspect, in some possible implementations, if the control instruction of the vehicle includes an instruction for adjusting the ground clearance of the vehicle, then for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to adjust the ground clearance of the vehicle includes: obtaining the initial positions of the support assemblies in the two front wheel assemblies and the two rear wheel assemblies, and obtaining four initial positions position; if the four initial positions are all the first position and the adjustment instruction is an increase instruction, obtain a first target distance corresponding to the increase instruction; wherein, the first target distance is greater than the second target distance, and the second target distance is the ground clearance of the vehicle when the four initial positions are all the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is the largest, and the first position is a position other than the second position; for each front wheel assembly, control the rotation drive mechanism in the front wheel assembly to drive the wheel assembly in the front wheel assembly and the gear transmission assembly rotates around the rotation axis, and, for each rear wheel assembly, controls the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to increase the second target distance to the first target distance; or, if the four initial positions are all the third position and the adjustment instruction is a decrease instruction, obtains the third target distance corresponding to the decrease instruction; wherein the third target distance is less than the fourth target distance, and the fourth target distance is the ground clearance of the vehicle when the four initial positions are all the third position; the two front wheel assemblies and the two rear wheel assemblies When all the support assemblies in the wheel assembly are located in the fourth position, the ground clearance of the vehicle is minimum, the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position; for each front wheel assembly, the rotation drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, the rotation drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to reduce the fourth target distance to the third target distance.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to increase the second target distance to the first target distance includes: obtaining a first target angle corresponding to the first target distance; for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle around the rotation axis in a first direction, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle around the rotation axis in a second direction; wherein, the first direction is the rotation direction of the wheel when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π).

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the first position is the fourth position, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in the first direction around the rotation axis, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in the second direction around the rotation axis includes: determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle; if so, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in the first direction around the rotation axis, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in the second direction around the rotation axis; wherein, the first target angle belongs to (0, π].

[0012] Based on the above technical solution, the ground clearance can be increased and the wheelbase can be shortened, which can improve the vehicle's passing performance and maneuverability when the vehicle is driving on harsh road conditions, and reduce the turning radius when the vehicle turns.

[0013] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, for the rotation drive mechanism in each wheel assembly, the rotation drive mechanism includes a motor, a worm and a worm wheel, the motor is fixedly mounted on the sleeve, the worm is connected to the output shaft of the motor, and the worm wheel is fixedly mounted on the outer periphery of the connecting end and meshes with the worm; for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle around the rotation axis in a first direction, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle around the rotation axis in a second direction includes: obtaining a first target angle corresponding to the first target angle Preset rotor angle; control the rotation of the motor in the front wheel assembly and detect a first actual rotation angle of the rotor of the motor in the front wheel assembly; when the first actual rotation angle reaches the first preset rotor angle, control the motor in the front wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the front wheel assembly rotate around the rotation axis in the first direction to the first target angle; and control the rotation of the motor in the rear wheel assembly and detect a second actual rotation angle of the rotor of the motor in the rear wheel assembly; when the second actual rotation angle reaches the first preset rotor angle, control the motor in the rear wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the rear wheel assembly rotate around the rotation axis in the second direction to the first target angle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, a preset distance that is the same as the first target distance is obtained from a mapping relationship; a preset angle corresponding to the preset distance that is the same as the first target distance is determined as the first target angle; wherein the mapping relationship includes multiple preset distances and preset angles corresponding to each of the multiple preset distances.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to reduce the fourth target distance to the third target distance includes: obtaining a second target angle corresponding to the third target distance; for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the second target angle around the rotation axis in a second direction, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the second target angle around the rotation axis in a first direction; wherein, the first direction is the rotation direction of the wheel when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the second target angle belongs to (0, 2π).

[0016] In combination with the first aspect and the above-mentioned implementation, in some possible implementations, when the third position is the second position, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the second target angle around the rotation axis in the second direction, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the second target angle around the rotation axis in the first direction includes: determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle; if so, for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the second target angle around the rotation axis in the second direction, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the second target angle around the rotation axis in the first direction; wherein, the second target angle belongs to (0, π].

[0017] Based on the above technical solution, the ground clearance can be reduced and the wheelbase can be shortened, which can improve the high-speed stability and comfort of the vehicle when the vehicle is driving on a flat road, and reduce the turning radius when the vehicle turns.

[0018] In a second aspect, a vehicle control device is provided, configured for a vehicle, the vehicle comprising two front wheel assemblies and two rear wheel assemblies;

[0019] For each of the two front wheel assemblies and the two rear wheel assemblies, the wheel assembly includes a support assembly, a wheel assembly, a gear transmission assembly and a rotation drive mechanism;

[0020] The support assembly includes a sleeve and a rotating shaft; the rotating shaft is arranged in the sleeve and can rotate relative to the sleeve;

[0021] The wheel assembly includes a wheel and a drive shaft, and the wheel can rotate around the axis of the drive shaft;

[0022] The gear transmission assembly includes a gear box and a gear set; the gear set is disposed in the gear box, the input end of the gear set is connected to the output end of the rotating shaft, and the output end of the gear set is connected to the driving shaft; the gear box has a connecting end on a side close to the sleeve, and the connecting end is rotatably connected to the sleeve; and

[0023] The rotary drive mechanism is connected to the gear box and the sleeve, and is used to drive the wheel assembly and the gear transmission assembly to rotate around the rotation axis of the support assembly;

[0024] The device includes:

[0025] A receiving module, used for receiving control instructions of the vehicle;

[0026] A control module is configured to, when the control instruction includes an instruction to adjust the ground clearance of the vehicle, control a rotary drive mechanism in each front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, when the control instruction includes an instruction to adjust the ground clearance of the vehicle, control a rotary drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, for each rear wheel assembly, control a rotary drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to adjust the ground clearance of the vehicle.

[0027] In combination with the second aspect and the above implementations, in certain possible implementations, if the control instruction of the vehicle includes an instruction to adjust the ground clearance of the vehicle, then for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around a rotation axis, and, for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around a rotation axis, so as to adjust the ground clearance of the vehicle, the control module is specifically configured to: obtain initial positions of the support assemblies in the two front wheel assemblies and the two rear wheel assemblies, to obtain four initial positions;

[0028] If the four initial positions are all the first position and the adjustment instruction is an increase instruction, obtaining a first target distance corresponding to the increase instruction; wherein the first target distance is greater than a second target distance, and the second target distance is the ground clearance of the vehicle when the four initial positions are all the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is maximum, and the first position is a position other than the second position;

[0029] For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about a rotation axis; and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to increase the second target distance to the first target distance;

[0030] or,

[0031] If the four initial positions are all the third position and the adjustment instruction is a decrease instruction, a third target distance corresponding to the decrease instruction is obtained; wherein the third target distance is less than a fourth target distance, and the fourth target distance is the ground clearance of the vehicle when the four initial positions are all the third position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position, the ground clearance of the vehicle is minimum, the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position;

[0032] For each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to reduce the fourth target distance to the third target distance.

[0033] In combination with the second aspect and the above implementations, in certain possible implementations, in the aspect of controlling, for each front wheel assembly, the rotational drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and controlling, for each rear wheel assembly, the rotational drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis, so as to increase the second target distance to the first target distance, the control module is specifically configured to:

[0034] Obtaining a first target angle corresponding to the first target distance;

[0035] For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis; and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis;

[0036] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π).

[0037] In combination with the second aspect and the above implementations, in certain possible implementations, when the first position is the fourth position, for each front wheel assembly, controlling the rotational drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis, and for each rear wheel assembly, controlling the rotational drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis, the control module is specifically configured to:

[0038] determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle;

[0039] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by the first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle;

[0040] Wherein, the first target angle belongs to (0, π].

[0041] In combination with the second aspect and the above implementations, in certain possible implementations, for the rotation drive mechanism in each wheel assembly, the rotation drive mechanism includes a motor, a worm, and a worm wheel, the motor is fixedly mounted on the sleeve, the worm is connected to the output shaft of the motor, and the worm wheel is fixedly mounted on the outer periphery of the connecting end and meshes with the worm;

[0042] In terms of controlling, for each front wheel assembly, the rotational drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by the first target angle, and controlling, for each rear wheel assembly, the rotational drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle, the control module is specifically configured to:

[0043] Obtaining a first preset rotor angle corresponding to the first target angle;

[0044] controlling the rotation of the motor in the front wheel assembly and detecting a first actual rotation angle of a rotor of the motor in the front wheel assembly;

[0045] When the first actual rotation angle reaches the first preset rotor angle, controlling the motor in the front wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the front wheel assembly rotate around the rotation axis in the first direction to the first target angle;

[0046] as well as,

[0047] controlling the rotation of the motor in the rear wheel assembly and detecting a second actual rotation angle of a rotor of the motor in the rear wheel assembly;

[0048] When the second actual rotation angle reaches the first preset rotor angle, the motor in the rear wheel assembly is controlled to stop rotating so that the wheel assembly and the gear transmission assembly in the rear wheel assembly rotate around the rotation axis in the second direction to the first target angle.

[0049] In combination with the second aspect and the above implementation manner, in some possible implementation manners, the control module is further configured to: obtain a preset distance that is the same as the first target distance from a mapping relationship;

[0050] determining a preset angle corresponding to a preset distance that is the same as the first target distance as the first target angle;

[0051] The mapping relationship includes a plurality of preset distances and preset angles corresponding to the plurality of preset distances.

[0052] In combination with the second aspect and the above implementations, in certain possible implementations, in the aspect of controlling, for each front wheel assembly, the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and controlling, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis, so as to reduce the fourth target distance to the third target distance, the control module is specifically configured to:

[0053] Acquire a second target angle corresponding to the third target distance;

[0054] For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a second direction by the second target angle; and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a first direction by the second target angle;

[0055] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the second target angle belongs to (0, 2π).

[0056] In combination with the second aspect and the above implementations, in certain possible implementations, when the third position is the second position, for each front wheel assembly, controlling the rotational drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by the second target angle, and for each rear wheel assembly, controlling the rotational drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by the second target angle, the control module is specifically configured to:

[0057] determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle;

[0058] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by the second target angle; and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by the second target angle;

[0059] Wherein, the second target angle belongs to (0, π].

[0060] In a third aspect, a vehicle is provided, comprising: a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0061] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0062] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Shows a schematic structural diagram of an existing vehicle;

[0064] Figure 2 A schematic diagram of the appearance structure of a vehicle provided in an embodiment of the present application is shown;

[0065] Figure 3 A schematic structural diagram of a wheel assembly provided in an embodiment of the present application is shown;

[0066] Figure 4 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown;

[0067] Figure 5 A schematic diagram showing the ground clearance of a vehicle provided by an embodiment of the present application is shown;

[0068] Figure 6 A schematic diagram showing the maximum ground clearance and minimum ground clearance of a vehicle provided in an embodiment of the present application is shown;

[0069] Figure 7 A schematic diagram of a first scenario of increasing ground clearance provided by an embodiment of the present application is shown;

[0070] Figure 8 A schematic diagram of a second scenario of increasing ground clearance provided by an embodiment of the present application is shown;

[0071] Figure 9 A schematic diagram of a third scenario of increasing ground clearance provided by an embodiment of the present application is shown;

[0072] Figure 10A schematic diagram of a fourth scenario of increasing ground clearance provided by an embodiment of the present application is shown;

[0073] Figure 11 A schematic diagram of a fifth scenario of increasing ground clearance provided by an embodiment of the present application is shown;

[0074] Figure 12 A schematic diagram of an application interface of a vehicle-mounted terminal provided in an embodiment of the present application is shown;

[0075] Figure 13 Another application interface diagram of the vehicle-mounted terminal provided in an embodiment of the present application is shown;

[0076] Figure 14 A schematic diagram of a first scenario of reducing ground clearance provided by an embodiment of the present application is shown;

[0077] Figure 15 A schematic diagram of a second scenario of reducing ground clearance provided by an embodiment of the present application is shown;

[0078] Figure 16 A schematic diagram of a third scenario of reducing ground clearance provided by an embodiment of the present application is shown;

[0079] Figure 17 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown;

[0080] Figure 18 A schematic diagram of the hardware structure of a vehicle control system provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0081] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and" in the text is only a description of the association relationship between related objects, indicating that there can be three relationships, for example, A and B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0082] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0083] Currently, the ground clearance of existing vehicles is difficult to adjust. Figure 1 Shows the appearance structure diagram of the existing vehicle, such as Figure 1As shown, in the existing vehicle structure, the front wheels rotate about the axis of the front axle, and the rear wheels rotate about the axis of the rear axle, that is, the wheel center of the front wheel is the axis center of the front axle, and the wheel center of the rear wheel is the axis center of the rear axle. Since the front axle and the rear axle are connected to the wheel centers of the front wheels and the rear wheels respectively, the wheel centers of the wheels are the wheel centers of the wheels. Since the front and rear axles of the vehicle are connected to the chassis through the suspension system, the distance between the front and rear axles of the vehicle and the ground is the distance between the chassis of the vehicle and the ground, that is, the ground clearance of the vehicle. Since the positions of the front and rear axles of the vehicle cannot be adjusted, the chassis position of the existing vehicle cannot be adjusted, that is, the ground clearance is fixed, which leads to two limitations: on the one hand, when the chassis of the vehicle is too low, the vehicle's passing performance and maneuverability in bad road conditions are poor, and the chassis is easily scratched; on the other hand, when the chassis of the vehicle is too high, the vehicle's high-speed stability and comfort on flat roads are poor, and traffic accidents are easily caused.

[0084] Based on the problems existing in the above-mentioned related technologies, the embodiments of the present application provide a vehicle control method, device, vehicle and computer-readable storage medium, which can flexibly adjust the ground clearance of the vehicle, improve the vehicle's passing performance and maneuverability in harsh road conditions, and improve the high-speed stability and comfort on flat roads.

[0085] The following is an embodiment of a vehicle control method provided in an embodiment of the present application.

[0086] A vehicle control method provided in an embodiment of the present application is applied to a vehicle. Figure 2 A schematic diagram of the vehicle structure provided by an embodiment of the present application is shown. Figure 2 As shown, the vehicle provided in the embodiment of the present application includes two front wheel assemblies and two rear wheel assemblies. By controlling the eccentric movement of the wheels in the two front wheel assemblies and the two rear wheel assemblies, the positions of the rotating shafts in the two front wheel assemblies and the two rear wheel assemblies can be adjusted. Since the rotating shafts can be regarded as the front axle or rear axle of the vehicle, when the positions of the rotating shafts in the four wheel assemblies are adjusted, the chassis position of the vehicle can be adjusted to achieve the purpose of adjusting the ground clearance of the vehicle.

[0087] Figure 3 The structure diagram of the wheel assembly provided in the embodiment of the present application is shown in FIG. Figure 3 As shown, each of the two front wheel assemblies and the two rear wheel assemblies includes a support assembly 0, a wheel assembly 1, a gear transmission assembly 2 and a rotation drive mechanism 3.

[0088] Support assembly 0, used to support wheel assembly 1, includes a sleeve 01 and a rotating shaft 02. Rotating shaft 02 is disposed within sleeve 01 and is rotatable relative to sleeve 01. To support rotating shaft 02 within sleeve 01 and improve its operational reliability and stability, support assembly 0 also includes multiple third bearings 03, through which rotating shaft 02 is rotatably connected to the inner wall of sleeve 01. The number of third bearings 03 can vary depending on the location of the wheel assembly on the vehicle. For example, the number of third bearings 03 can be two, three, six, or so on, and designers can flexibly adjust the number based on actual needs.

[0089] Wheel assembly 1 includes a wheel 10 and a drive shaft 12. Wheel 10 can rotate about the axis of drive shaft 12, that is, the axis of drive shaft 12 is collinear with the wheel center of wheel 10. The axis of drive shaft 12 can be understood as the wheel center of wheel 10. In addition, wheel assembly 1 also includes a brake assembly 13; brake assembly 13 is used to achieve braking of wheel assembly 1 and includes a brake disc 131 and a caliper 132; brake disc 131 is mounted on drive shaft 12; caliper 132 cooperates with brake disc 131. The caliper 132 and brake disc 131 in brake assembly 13 can cooperate in various structures such as fixed caliper disc type and floating caliper disc type, and designers can flexibly choose according to actual braking needs. In order to reduce the volume of the entire wheel assembly, a mounting cavity 11 is provided on the side of wheel 10 near support assembly 0; brake assembly 13 can be disposed in mounting cavity 11.

[0090] The gear transmission assembly 2 is the intermediate connecting component between the support assembly 0 and the wheel assembly 1, and is the core component for adjusting the ground clearance and wheelbase of the vehicle. Figure 3The gear transmission assembly 2 may include a gearbox 21 and a gear set 22; the gear set 22 is disposed within the gearbox 21, with the input end of the gear set 22 connected to the output end of the rotating shaft 02, and the output end of the gear set 22 connected to the drive shaft 12. In some embodiments of the present application, the gear set 22 may include at least a first gear 221 and a second gear 222. The first gear 221 is connected to the output end of the rotating shaft 02 of the support assembly 0; the second gear 222 meshes with the first gear 221, and the second gear 222 is connected to the drive shaft 12. It is understood that the gears included in the gear set 22 are not limited to the first gear 221 and the second gear 222 in the above-described embodiment, and may also include multiple cooperating gears, such as a third gear, a fourth gear, a fifth gear, and so on. Designers can flexibly design gear sets 22 with different numbers and cooperating relationships based on the vehicle's driving performance requirements. It should be noted that at least two meshing gears in the gear set 22, such as the second gear 222 and the first gear 221, can make the axis of the driving shaft 12 of the wheel 10 rotate and the axis of the rotating shaft 02 of the support component 0 not coincide with each other, thereby making the wheel 10 perform eccentric motion around the axis of the rotating shaft 02 of the support component 0.

[0091] The gearbox 21 has a connecting end 211 on the side near the sleeve 01, which is rotatably connected to the sleeve 01. In this way, the gear transmission assembly 2, including the gearbox 21 and the gear set 22 within the gearbox 21, can rotate as a whole about the sleeve 01. The sleeve 01 is coaxial with the rotating shaft 02, meaning that the gear transmission assembly 2 can rotate as a whole about the axis of the rotating shaft 02. The movable connection between the gearbox 21 and the sleeve 01 eliminates the need for the gear transmission assembly 2 and the support assembly 0 to form a single structure, providing the necessary preparation for adjusting the vehicle's ground clearance and wheelbase. Furthermore, to ensure a smoother and more reliable rotational connection between the connecting end 211 and the sleeve 01 and facilitate maintenance, the gear transmission assembly 2 may further include a first bearing 23; the connecting end 211 of the first bearing 23 is rotatably connected to the outer wall of the sleeve 01 via the first bearing 23. Similarly, to improve the working stability of the drive shaft 12 and the second gear 222 and facilitate maintenance, the gear transmission assembly 2 may further include a second bearing 24; the drive shaft 12 is rotatably connected to the inner wall of the gear box 21 via the second bearing 24. In addition, to reduce the space occupied by the gear transmission assembly 2 and make the wheel assembly structure more compact, at least a portion of the gear transmission assembly 2 may be disposed within the mounting cavity 11 of the wheel 10. When the gear transmission assembly 2 is at least partially located within the mounting cavity 11 of the wheel 10, see Figure 3 The brake assembly 13 can be located on a side of the gear transmission assembly 2 away from the support assembly 0.

[0092] The rotary drive mechanism 3 is connected to the gear box 21 and the sleeve 01 and is used to drive the wheel assembly 1 and the gear transmission assembly 2 to rotate around the rotating shaft 02.

[0093] In the present application, due to the presence of the gear transmission assembly 2, the axis of the drive shaft 12 of the wheel 10 does not coincide with the axis of the rotating shaft 02. The rotating shaft 02 can be considered the front or rear axle of the vehicle. For example, the rotating shaft 02 in the front wheel assembly is the front axle, and the rotating shaft 02 in the rear wheel assembly is the rear axle. The wheel 10 can move eccentrically around the axis of the rotating shaft 02. Therefore, the wheel center of the wheel 10 is no longer the wheel center of the wheel 10. Instead, the wheel center of the wheel 10 and the axis center of the rotating shaft 02 are collinear. Moreover, because the rotating shaft 02 is coaxial with the first gear 221, the wheel center of the wheel 10 is the center of the first gear 221.

[0094] In the embodiment of the present application, when the vehicle is driving normally, the rotation drive mechanism 3 is controlled not to work, and the rotating shafts 02 in each of the two front wheel assemblies and the two rear wheel assemblies are controlled to rotate simultaneously. Since the rotating shaft 02 is coaxial with the first gear 221, the first gear 221 is driven to rotate during the rotation of the rotating shaft 02. Since the first gear 221 is meshed with the second gear 222, the second gear 222 is driven to rotate during the rotation of the first gear 221. Since the second gear 222 is coaxial with the drive shaft 12, the second gear 222 is driven to rotate during the rotation of the second gear, thereby driving the wheel 10 to rotate, so that the vehicle can move forward or backward normally.

[0095] If the ground clearance of the vehicle needs to be adjusted, for each of the two front wheel assemblies and the two rear wheel assemblies, the rotary drive mechanism 3 in each wheel assembly can drive the connecting end 211 to rotate around the sleeve 01. Because the connecting end 211 is part of the gear box 21, that is, the gear box 21 and the connecting end 211 are integral, when the rotary drive mechanism 3 drives the connecting end 211 to rotate around the sleeve 01, the rotary drive mechanism 3 also drives the gear box 21 to rotate around the sleeve 01. Moreover, because the gear box 21 is a structure inside the gear transmission assembly 2, that is, when the rotary drive mechanism 3 drives the gear box 21 to rotate around the sleeve 01, the gear transmission assembly 2 also rotates around the sleeve 01. Moreover, because the gear transmission assembly 2 is connected to the wheel assembly 1, the gear transmission assembly 2 and the wheel assembly 1 can be considered as an integral unit. When the gear transmission assembly 2 rotates around the sleeve 01, the wheel assembly 1 also rotates around the sleeve 01. Therefore, the rotary drive mechanism 3 can drive the gear transmission assembly 2 and the wheel assembly 1 to rotate around the sleeve 01 together.

[0096] Because wheel 10 is in contact with the ground, support assembly 0 is stationary (i.e., sleeve 01 and rotating shaft 02 are stationary) while the vehicle is parked. When gear assembly 2 and wheel assembly 1 rotate together around sleeve 01, wheel 10 undergoes eccentric motion around the axis of rotating shaft 02. Due to the interaction between wheel 10 and the ground, the height of support assembly 0 above the ground changes during the rotation of wheel assembly 1 and gear assembly 2 around rotating shaft 02. This also changes the height of rotating shaft 02 above the ground, thereby altering the vehicle's ground clearance and wheelbase.

[0097] Based on the above structure, the rotary drive mechanism 3 can be controlled to drive the gear transmission assembly 2 and the wheel assembly 1 to rotate around the sleeve 01, thereby changing the ground clearance of the vehicle, thereby achieving the purpose of improving the vehicle's passability and maneuverability in harsh road conditions and high-speed stability and comfort on flat roads.

[0098] Based on the above structure, the embodiment of the present application provides a vehicle control method to adjust the ground clearance of the vehicle. Figure 4 As shown, Figure 4 A schematic flow chart of a vehicle control method provided by an embodiment of the present application is shown. The vehicle control method is applied to a vehicle body domain controller and includes the following solutions:

[0099] S110: Receive vehicle control instructions.

[0100] S120: In a case where the control instruction includes an instruction for adjusting the ground clearance of the vehicle, for each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to adjust the ground clearance of the vehicle.

[0101] In this embodiment of the present application, vehicle control commands are triggered by the user. The user can send vehicle control commands to the vehicle through a button, voice, or other triggering method. If a vehicle control command is received and includes a ground clearance adjustment instruction, indicating that the user wishes to adjust the ground clearance based on the initial ground clearance, the ground clearance adjustment function is activated. After the ground clearance adjustment function is activated, the ground clearance can be increased to improve the vehicle's maneuverability and maneuverability in adverse road conditions, or reduced to improve high-speed stability and comfort on flat roads.

[0102] In this application, because the chassis of the vehicle needs to remain parallel to the ground, the control of the two front wheel assemblies and the two rear wheel assemblies should be synchronized. Figure 5 A schematic diagram showing the ground clearance of a vehicle provided in an embodiment of the present application is shown. Figure 5 As shown, d1 represents the distance between the rotation axis of the left front wheel assembly and the ground, d2 represents the distance between the rotation axis of the right front wheel assembly and the ground, d3 represents the distance between the rotation axis of the left rear wheel assembly and the ground, and d4 represents the distance between the rotation axis of the right rear wheel assembly and the ground. Because the control of each front wheel assembly and each rear wheel assembly is also synchronized, when the road surface is level, when it is not level, for example, when the road surface is bumpy, d1, d2, d3, and d4 may not all be equal. However, by adjusting the positions of the rotation axes of the four wheel assemblies, d1, d2, d3, and d4 can be increased, that is, the ground clearance is increased, or decreased, that is, the ground clearance is decreased.

[0103] Based on the above-mentioned structure capable of adjusting the ground clearance of a vehicle, the embodiments of the present application can control the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies to rotate about a rotation axis, thereby controlling the wheels in the two front wheel assemblies and the two rear wheel assemblies to perform eccentric motion, thereby changing the position of the rotation axis in the two front wheel assemblies and the two rear wheel assemblies, that is, changing the position of the vehicle chassis, including raising the vehicle chassis to increase the ground clearance, or lowering the chassis to reduce the ground clearance. Therefore, when a vehicle control command is received, and the control command includes a command to adjust the vehicle's ground clearance, the wheel assemblies and gear transmission assemblies in the two front wheel assemblies and the two rear wheel assemblies can be controlled to rotate about the rotation axis to change the position of the vehicle chassis, thereby adjusting the vehicle's ground clearance, which is beneficial for improving the vehicle's passability and maneuverability in adverse road conditions, as well as its high-speed stability and comfort on flat roads.

[0104] In one possible implementation, if the vehicle control instruction includes an instruction to adjust the ground clearance of the vehicle, S120 includes:

[0105] Obtaining initial positions of support assemblies in the two front wheel assemblies and the two rear wheel assemblies to obtain four initial positions;

[0106] If all four initial positions are the first position and the adjustment instruction is an increase instruction, a first target distance corresponding to the increase instruction is obtained; wherein the first target distance is greater than the second target distance, and the second target distance is the ground clearance of the vehicle when all four initial positions are the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is the maximum, and the first position is a position other than the second position;

[0107] For each front wheel assembly, controlling a rotary drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, for each rear wheel assembly, controlling a rotary drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to increase the second target distance to the first target distance;

[0108] or,

[0109] If all four initial positions are the third position and the adjustment instruction is a decrease instruction, a third target distance corresponding to the decrease instruction is obtained; wherein the third target distance is less than the fourth target distance, and the fourth target distance is the ground clearance of the vehicle when all four initial positions are the third position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position, the ground clearance of the vehicle is minimum, and the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position;

[0110] For each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis to reduce the fourth target distance to the third target distance.

[0111] The initial positions of the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are the positions of the support assemblies (i.e., the rotating shafts) in the two front wheel assemblies and the two rear wheel assemblies on the wheels before receiving the vehicle control command. The ground clearance of the vehicle before receiving the vehicle control command, i.e., the initial ground clearance, is obtained based on the four initial positions, and the ground clearance of the vehicle is adjusted based on the initial ground clearance.

[0112] Adjusting the ground clearance of the vehicle based on the initial ground clearance includes increasing the ground clearance of the vehicle or decreasing the ground clearance of the vehicle. When the adjustment instruction is an increase instruction, the ground clearance of the vehicle is increased based on the initial ground clearance. When the adjustment instruction is a decrease instruction, the ground clearance of the vehicle is decreased based on the initial ground clearance.

[0113] The following combination Figure 6 and Figure 7 A scenario is described in which, when the adjustment command is an increase command, the ground clearance of the vehicle is increased based on the initial ground clearance.

[0114] Figure 6 A schematic diagram showing the maximum ground clearance and minimum ground clearance of a vehicle provided in an embodiment of the present application is shown in FIG. Figure 6As shown, when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all located in the second position W2, the ground clearance d5 of the vehicle is the largest, and the first position W1 is a position other than the second position W2, wherein the first position W1 includes the fourth position W4, that is, when the four initial positions are all the first position W1, there is still room for increasing the ground clearance of the vehicle.

[0115] The adjustment command being an increase command indicates that the user desires to increase the ground clearance based on the initial ground clearance. Specifically, when all four initial positions are the first position W1 and the adjustment command is an increase command, a control operation to increase the ground clearance is executed. Specifically, the control operation includes obtaining the ground clearance of the vehicle when all four initial positions are the first position W1, i.e., the second target distance, and the first target distance corresponding to the increase command. The first target distance represents the ground clearance after the user desires to increase the ground clearance. Specifically, after the control operation to increase the ground clearance of the vehicle is executed, the ground clearance of the vehicle, i.e., the first target distance, is greater than the second target distance. For each front wheel assembly, a rotational drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the front wheel assembly to rotate about a rotation axis. Furthermore, for each rear wheel assembly, a rotational drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the rear wheel assembly to rotate about a rotation axis to increase the second target distance to the first target distance, thereby increasing the ground clearance.

[0116] For example, Figure 7 A schematic diagram of a first scenario of increasing the ground clearance of a vehicle provided by an embodiment of the present application is shown. Figure 7 As shown, taking either of the two front and two rear wheel assemblies as an example, when the rotation axis is at the first position W1, the vehicle's ground clearance is d7, i.e., the second target distance. After receiving the vehicle's increase command and executing the control operation to increase the second target distance to the first target distance, the rotation axis is at point a, which can be the second position W2 or any other first position other than the first position when the vehicle's ground clearance is d7. The increased vehicle ground clearance is d8, i.e., the first target distance, where d8 > d7.

[0117] The above describes the scenario where the ground clearance of the vehicle is increased based on the initial ground clearance when the adjustment instruction is an increase instruction. Figure 6 and Figure 8 A scenario is described in which, when the adjustment command is a reduction command, the ground clearance of the vehicle is reduced based on the initial ground clearance.

[0118] like Figure 6As shown, when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position W4, the ground clearance d6 of the vehicle is minimum, and the third position W3 is a position other than the fourth position W4, and the third position W3 includes the second position W2, that is, when the four initial positions are all the third position W3, there is still room for the ground clearance of the vehicle to be reduced.

[0119] The adjustment command being a decrease command indicates that the user desires to reduce the ground clearance based on the initial ground clearance. Specifically, when all four initial positions are the third position W3 and the adjustment command is a decrease command, a control operation to reduce the ground clearance is executed. Specifically, the control operation includes obtaining the ground clearance of the vehicle when all four initial positions are the third position W3, i.e., the fourth target distance, and the third target distance corresponding to the decrease command. The third target distance represents the ground clearance after the user desires to reduce the ground clearance. Specifically, after the control operation to reduce the ground clearance of the vehicle is executed, the ground clearance of the vehicle, i.e., the third target distance, is less than the fourth target distance. For each front wheel assembly, a rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the front wheel assembly to rotate about a rotation axis. Furthermore, for each rear wheel assembly, a rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the rear wheel assembly to rotate about a rotation axis to reduce the fourth target distance to the third target distance, i.e., reduce the ground clearance of the vehicle.

[0120] For example, Figure 8 A schematic diagram of a second scenario of increasing ground clearance provided by an embodiment of the present application is shown. Figure 8 As shown, taking any one of the two front wheel assemblies and the two rear wheel assemblies as an example, when the rotation axis is at the third position W3, the ground clearance of the vehicle is d9, that is, the fourth target distance. After receiving the reduction instruction of the vehicle and executing the control operation of reducing the fourth target distance to the third target distance, the rotation axis is at point b. Point b can be the fourth position W4 or any other third position other than the third position when the ground clearance of the vehicle is d9. After the reduction, the ground clearance of the vehicle is d10, that is, the third target distance. d10 <d9。

[0121] In one possible implementation, for each front wheel assembly, controlling a rotary drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, for each rear wheel assembly, controlling a rotary drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to increase the second target distance to the first target distance includes:

[0122] Obtaining a first target angle corresponding to a first target distance;

[0123] For each front wheel assembly, controlling a rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling a rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis in a second direction by the first target angle;

[0124] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π).

[0125] In actual application scenarios, for each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, including controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the direction of rotation of the wheel when the vehicle is moving forward; and for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, including controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the direction of rotation of the wheel when the vehicle is reversing, which can increase the ground clearance of the vehicle.

[0126] For ease of explanation, in the embodiments of the present application, it is specified that the first direction is the direction of rotation of the wheels when the vehicle is moving forward, and the second direction is the opposite direction of the first direction. For each front wheel assembly, the rotation drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the first direction by a first target angle, and for each rear wheel assembly, the rotation drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the second direction by a first target angle, where the first target angle belongs to (0, 2π).

[0127] For example, when the vehicle is moving forward, the wheel rotates in a counterclockwise direction, and the first target angle is 135°. For each front wheel assembly, the rotation drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction to a first target angle. Figure 9 A schematic diagram of a third scenario for increasing ground clearance provided in an embodiment of the present application is shown. Figure 9As shown, taking the left front wheel assembly as an example, the rotation drive mechanism in the left front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the left front wheel assembly to rotate 135 degrees counterclockwise around the rotation axis, and for each rear wheel assembly, the rotation drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate a first target angle around the rotation axis in a second direction. Figure 10 A schematic diagram of a fourth scenario of increasing ground clearance provided by an embodiment of the present application is shown. Figure 10 As shown, taking the left rear wheel assembly as an example, the rotation drive mechanism in the left rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the left rear wheel assembly to rotate 135 degrees clockwise around the rotation axis to increase the second target distance (d11) to the first target distance (d12).

[0128] In one possible implementation, when the first position W1 is the fourth position W4, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle includes:

[0129] determining whether the control command includes a command to shorten the wheelbase of the vehicle;

[0130] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle;

[0131] Among them, the first target angle belongs to (0, π].

[0132] When the control command includes both an increase command and a shortening command for the vehicle's wheelbase, it indicates that the user wants to increase ground clearance while shortening the vehicle's wheelbase. When the first position W1 is the fourth position W4, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate in a first direction around the rotation axis by a first target angle. Furthermore, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate in a second direction around the rotation axis by a first target angle, wherein the first target angle falls within the range (0, π), thereby increasing ground clearance and reducing wheelbase.

[0133] For example, Figure 11 Figure 5 shows a schematic diagram of the fifth scenario for increasing the ground clearance provided by an embodiment of the present application. As Figure 11 shown, when the first position W1 is the fourth position W4, the ground clearance of the vehicle is d13, which is the second target distance. The wheelbase of the vehicle is D1. Taking the counterclockwise direction as the rotation direction of the wheels when the vehicle moves forward, the first target angle is 90°. Control the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate counterclockwise around the rotation axis by 90°. The rotation axis moves from the fourth position W4 to point c. And for each rear wheel assembly, control the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate clockwise around the rotation axis by 90°. The rotation axis moves from the fourth position W4 to point d. At this time, the ground clearance of the vehicle is d14, which is the first target distance, and d14 > d13. The wheelbase of the vehicle is D2, and D2 < D1. While increasing the ground clearance, the wheelbase of the vehicle is shortened.

[0134] In a possible implementation, for the rotation drive mechanism 3 in each wheel assembly, the rotation drive mechanism 3 includes a motor, a worm 31 and a worm gear 32. The motor is fixedly installed on the sleeve 01. The worm 31 is connected to the output shaft of the motor. The worm gear 32 is fixedly installed on the outer periphery of the connection end 211 and meshes with the worm 31.

[0135] Among them, the rotation drive mechanism 3 can adopt a worm and worm gear transmission mechanism, a gear transmission mechanism, a chain transmission mechanism, etc. Refer to Figure 3 . When the rotation drive mechanism 3 adopts a worm and worm gear transmission mechanism, it can include a motor, a worm 31 and a worm gear 32. The motor can be fixedly installed on the sleeve 01 by means of welding, bolt connection, etc., that is, the motor and the sleeve 01 are an integral body. The worm 31 is connected to the output shaft of the motor. When the output shaft of the motor rotates, it drives the worm 31 to rotate. The worm gear 32 can be fixedly installed on the outer periphery of the connection end 211 by means of welding, interference fit, etc., and the worm gear 32 meshes with the worm 31. It can be understood that by adopting a worm and worm gear transmission mechanism, after the motor drives the wheel assembly 1 to an appropriate position and stops, the self-locking performance of the worm and worm gear transmission can be used to effectively transmit the torque of the worm gear 32 to the worm 31 and prevent the worm 31 from rotating in reverse, so as to lock the wheel assembly 1 in the appropriate position, improve the safety of the wheel assembly, and avoid the occurrence of accidents. Similar to the worm and worm gear transmission mechanism, the gear transmission mechanism and the chain transmission mechanism can also drive the gear transmission assembly 2 and the wheel assembly 1 to rotate integrally under the drive of the motor by connecting with the gearbox 21 and the sleeve 01. Regarding the specific structures of the gear transmission mechanism and the chain transmission mechanism, designers can flexibly design according to the corresponding performance requirements of different vehicle models, which will not be elaborated here.

[0136] For each front wheel assembly, controlling a rotational drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling a rotational drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about the rotation axis in a second direction by the first target angle includes:

[0137] Obtaining a first preset rotor angle corresponding to the first target angle;

[0138] controlling the rotation of a motor in the front wheel assembly and detecting a first actual rotation angle of a rotor of the motor in the front wheel assembly;

[0139] When the first actual rotation angle reaches the first preset rotor angle, controlling the motor in the front wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the front wheel assembly rotate around the rotation axis in the first direction to a first target angle;

[0140] It can be seen from the above-mentioned worm gear transmission mechanism that controlling the wheel assembly and gear transmission assembly in the front wheel assembly to rotate around the rotation axis is specifically achieved by controlling the rotation of the motor rotor of the motor in the front wheel assembly. Therefore, in order to enable the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction to a first target angle, it is necessary to first obtain a first preset rotor angle corresponding to the first target angle.

[0141] The ratio of the wheel center's rotation angle relative to the axis of rotation to the motor's rotor angle is i, where i is a pre-measured, calibrated value and can be considered the motor's transmission ratio. The motor's rotor angle is represented by θ, and the wheel center's rotation angle relative to the axis of rotation is represented by α. Given α, θ = α / i.

[0142] Therefore, when the first target angle is known, the first preset rotor angle corresponding to the first target angle can be obtained using the above formula θ=α / i, i.e., first preset rotor angle = first target angle / i. When the support assemblies in both front wheel assemblies and both rear wheel assemblies are located at the first position W1, the current angles of the motor rotors in the two front wheel assemblies are recorded as the motor rotor initial angles. The motors in the front wheel assemblies are controlled to rotate at a preset motor speed, and the real-time angle of the motor rotors in the front wheel assemblies is detected by the motor rotor position sensor. The difference between the real-time angle of the motor rotor and the motor rotor initial angle is the first actual rotation angle. When the first actual rotation angle reaches the first preset rotor angle, it indicates that the rotation angle of the wheel assembly and gear transmission assembly in the front wheel assembly about the rotation axis in the first direction has reached the first target angle, i.e., the motors in the front wheel assemblies are controlled to stop rotating.

[0143] For example, when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are both located in the first position W1, the current angle of the motor rotor is measured to be 500°. When the first target angle is set to 90°, the corresponding first preset rotor angle is (90 / i)°, and the preset motor speed is 30° / s. The motor in the front wheel assembly is controlled to rotate at a speed of 30° / s, and the real-time angle of the rotor of the motor in the front wheel assembly is detected by the motor rotor position sensor. When the real-time angle of the motor rotor is (500+90 / i)°, the first actual rotation angle reaches the first preset rotor angle, indicating that the rotation angle of the wheel assembly and the gear transmission assembly in the front wheel assembly around the rotation axis in the first direction reaches the first target angle, that is, the motor in the front wheel assembly is controlled to stop rotating.

[0144] as well as,

[0145] controlling the rotation of the motor in the rear wheel assembly and detecting a second actual rotation angle of the rotor of the motor in the rear wheel assembly;

[0146] When the second actual rotation angle reaches the first preset rotor angle, the motor in the rear wheel assembly is controlled to stop rotating so that the wheel assembly and the gear transmission assembly in the rear wheel assembly rotate around the rotation axis in the second direction to the first target angle.

[0147] The motor in the rear wheel assembly is controlled to rotate at a preset motor speed, and the real-time angle of the rotor of the motor in the rear wheel assembly is detected by a motor rotor position sensor. The difference between the real-time angle of the motor rotor and the initial angle of the motor rotor is a second actual rotation angle. When the second actual rotation angle reaches the first preset rotor angle, it indicates that the rotation angle of the wheel assembly and the gear transmission assembly in the rear wheel assembly around the rotation axis in the second direction reaches the first target angle, that is, the motor in the rear wheel assembly is controlled to stop rotating.

[0148] Based on the above motor control method, the motor in each wheel assembly is controlled to increase the ground clearance.

[0149] In a possible implementation, a preset distance that is the same as the first target distance is obtained from the mapping relationship;

[0150] determining a preset angle corresponding to the same preset distance as the first target distance as the first target angle;

[0151] The mapping relationship includes a plurality of preset distances and preset angles corresponding to the plurality of preset distances.

[0152] As can be seen from the above scheme, before controlling the motor in the front wheel assembly to rotate the first preset rotor angle corresponding to the first target angle so that the wheel assembly and gear transmission assembly in the front wheel assembly rotate in the first direction around the rotation axis by the first target angle, and controlling the motor in the rear wheel assembly to rotate the first preset rotor angle corresponding to the first target angle so that the wheel assembly and gear transmission assembly in the rear wheel assembly rotate in the second direction around the rotation axis by the first target angle, it is necessary to first obtain the first target angle. The first target angle can be obtained based on the first target distance. The specific method is: obtain the preset distance that is the same as the first target distance from the mapping relationship; and determine the first preset angle corresponding to the preset distance that is the same as the first target distance as the first target angle.

[0153] In this embodiment of the present application, as shown in Table 1, the mapping relationship includes multiple preset distances corresponding to the front wheel assembly and the rear wheel assembly, and the preset angles corresponding to each of the multiple preset distances. For example, when the preset distance is 15 cm, the corresponding preset angle is 90°. That is, when the first target distance is 15 cm, the corresponding first target angle is 90°.

[0154] Table 1

[0155]

[0156] Figure 12 A schematic diagram of an application interface of the vehicle terminal according to an embodiment of the present application is shown. In actual application, the user can customize the first target distance through the application interface of the vehicle terminal. For example, Figure 12 As shown, Figure 12 The "Desired Distance" shown in the figure allows the user to modify the "Desired Distance" to set the first target distance. α represents the first target angle. The vehicle can query the above mapping relationship based on the first target distance entered by the user to obtain the first target angle α. For example, if the first target distance is 15 cm, the system will obtain and display α as 90° based on the above mapping relationship.

[0157] The user can customize the first target angle α through the application interface of the vehicle terminal. The vehicle can query the above mapping relationship based on the first target angle α input by the user to obtain the first target distance.

[0158] Figure 13 FIG. 1 shows another application interface diagram of the vehicle-mounted terminal according to an embodiment of the present application. In actual application, the user may also directly set the first target angle α. For example, Figure 13 As shown, Figure 13The user can customize the first target angle α (54°) shown in the "α angle" in the vehicle terminal's application interface. The vehicle can query the above mapping relationship using the user-entered 54° to obtain the first target distance, which is 13 cm. Furthermore, the user can also customize the desired shortening or lengthening of the vehicle's wheelbase.

[0159] In one possible implementation, for each front wheel assembly, controlling a rotational drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, for each rear wheel assembly, controlling a rotational drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to reduce the fourth target distance to the third target distance includes:

[0160] Obtaining a second target angle corresponding to a third target distance;

[0161] For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a second direction by a second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a first direction by a second target angle;

[0162] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the second target angle belongs to (0, 2π).

[0163] The rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the direction of rotation of the wheel when the vehicle is reversed, and the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the direction of rotation of the wheel when the vehicle is forward, so as to achieve the purpose of reducing the ground clearance of the vehicle.

[0164] For example, when the vehicle is moving forward in a counterclockwise direction, the first target angle is 135°. For each front wheel assembly, the rotation drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a second direction by a second target angle. Figure 14 A schematic diagram of a first scenario of reducing ground clearance provided by an embodiment of the present application is shown, such as Figure 14As shown, taking the left front wheel assembly as an example, the rotation drive mechanism in the left front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the left front wheel assembly to rotate 135 degrees clockwise around the rotation axis. Moreover, for each rear wheel assembly, the rotation drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a first direction by a second target angle. Figure 15 A schematic diagram of a second scenario of reducing ground clearance provided by an embodiment of the present application is shown. Figure 15 As shown, taking the left rear wheel assembly as an example, the rotation drive mechanism in the left rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the left rear wheel assembly to rotate 135 degrees clockwise around the rotation axis to reduce the fourth target distance (d15) to the third target distance (d16).

[0165] In one possible implementation, when the third position W3 is the second position W2, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by a second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by the second target angle includes:

[0166] determining whether the control command includes a command to shorten the wheelbase of the vehicle;

[0167] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by a second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by a second target angle;

[0168] Among them, the second target angle belongs to (0, π].

[0169] When the control command includes a reduction command and a shortening command for the vehicle's wheelbase, it indicates that the user wants to shorten the vehicle's wheelbase while reducing the ground clearance. When the third position W3 is the second position W2, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the front wheel assembly to rotate in the second direction around the rotation axis by a second target angle. Furthermore, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and gear transmission assembly in the rear wheel assembly to rotate in the first direction around the rotation axis by a second target angle. The second target angle falls within the range of (0, π], thereby reducing the ground clearance of the vehicle and shortening the vehicle's wheelbase.

[0170] For example, Figure 16 Fig. 3 shows a schematic diagram of the third scenario for reducing the ground clearance provided by the embodiments of the present application. As Figure 16 shown, when the third position W3 is the second position W2, the ground clearance of the vehicle is d17, which is the fourth target distance. The wheelbase of the vehicle is D3. With the counterclockwise direction being the rotation direction of the wheels when the vehicle moves forward, the second target angle is 90°. Control the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate counterclockwise around the rotation axis by 90°. The rotation axis moves from the second position W2 to point e. And for each rear wheel assembly, control the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate clockwise around the rotation axis by 90°. The rotation axis moves from the second position W2 to point f. At this time, the ground clearance of the vehicle is d18, which is the third target distance. d18 < d17. The wheelbase of the vehicle is D4, and D4 < D3. While reducing the ground clearance, the wheelbase of the vehicle is shortened.

[0171] As can be seen from the above worm gear transmission mechanism, controlling the rotation of the wheel assembly and the gear transmission assembly in the front wheel assembly around the rotation axis is specifically achieved by controlling the rotation of the motor rotor in the front wheel assembly. Therefore, to make the rotation drive mechanism in the front wheel assembly drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis by the second target angle in the second direction, and to make the rotation drive mechanism in the rear wheel assembly drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis by the second target angle in the first direction, it is necessary to first obtain the second preset rotor angle corresponding to the second target angle.

[0172] Given the second target angle, through the above formula θ = α / i, the second preset rotor angle corresponding to the second target angle can be obtained, that is, the second preset rotor angle = the second target angle / i. When the support components in the two front wheel assemblies and the two rear wheel assemblies are all in the third position W3, record the current angle of the motor rotor in the two front wheel assemblies, denoted as the initial angle of the motor rotor. Control the motor in the front wheel assembly to rotate at a preset motor speed, and detect the real-time angle of the rotor of the motor in the front wheel assembly through the motor rotor position sensor. The difference between the real-time angle of the rotor of the motor and the initial angle of the motor rotor is the third actual rotation angle. When the third actual rotation angle reaches the second preset rotor angle, it means that the rotation angle of the wheel assembly and the gear transmission assembly in the front wheel assembly rotating around the rotation axis in the second direction reaches the second target angle, that is, control the motor in the front wheel assembly to stop rotating.

[0173] In addition, the motor in the rear wheel assembly is controlled to rotate at a preset motor speed, and the real-time angle of the rotor of the motor in the rear wheel assembly is detected by a motor rotor position sensor, and the difference between the real-time angle of the motor rotor and the initial angle of the motor rotor is a fourth actual rotation angle; when the fourth actual rotation angle reaches the second preset rotor angle, it indicates that the rotation angle of the wheel assembly and the gear transmission assembly in the rear wheel assembly around the rotation axis in the first direction reaches the second target angle, that is, the motor in the rear wheel assembly is controlled to stop rotating, so as to achieve the purpose of reducing the fourth target distance to the third target distance.

[0174] Based on the above motor control method, controlling the motor in each wheel assembly can achieve the purpose of reducing ground clearance. For reducing ground clearance and shortening wheelbase, or increasing ground clearance and shortening wheelbase, the control of the motors in the four wheel assemblies in this application is similar to the control of the motors in the four wheel assemblies for increasing or decreasing ground clearance described above. The difference lies in the rotation angle of the motor rotor, which is not further described in this application.

[0175] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0176] Figure 17 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown in FIG. Figure 17 As shown, the vehicle control device 1700 includes:

[0177] Receiving module 1710, for receiving vehicle control instructions;

[0178] The control module 1720 is configured to, when the control instruction includes an instruction to adjust the ground clearance of the vehicle, control the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis for each front wheel assembly, and control the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis for each rear wheel assembly, so as to adjust the ground clearance of the vehicle.

[0179] In one possible implementation, if the vehicle control instruction includes an instruction for adjusting the ground clearance of the vehicle, then for each front wheel assembly, controlling the rotary drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and for each rear wheel assembly, controlling the rotary drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to adjust the ground clearance of the vehicle, the control module 1720 is specifically configured to: obtain initial positions of the support assemblies in the two front wheel assemblies and the two rear wheel assemblies, thereby obtaining four initial positions;

[0180] If all four initial positions are the first position and the adjustment instruction is an increase instruction, a first target distance corresponding to the increase instruction is obtained; wherein the first target distance is greater than the second target distance, and the second target distance is the ground clearance of the vehicle when all four initial positions are the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is the maximum, and the first position is a position other than the second position;

[0181] For each front wheel assembly, controlling a rotary drive mechanism in the front wheel assembly to drive a wheel assembly and a gear transmission assembly in the front wheel assembly to rotate about a rotation axis, and, for each rear wheel assembly, controlling a rotary drive mechanism in the rear wheel assembly to drive a wheel assembly and a gear transmission assembly in the rear wheel assembly to rotate about a rotation axis, so as to increase the second target distance to the first target distance;

[0182] or,

[0183] If all four initial positions are the third position and the adjustment instruction is a decrease instruction, a third target distance corresponding to the decrease instruction is obtained; wherein the third target distance is less than the fourth target distance, and the fourth target distance is the ground clearance of the vehicle when all four initial positions are the third position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position, the ground clearance of the vehicle is minimum, and the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position;

[0184] For each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis to reduce the fourth target distance to the third target distance.

[0185] In one possible implementation, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis, so as to increase the second target distance to the first target distance, the control module 1720 is specifically configured to:

[0186] Obtaining a first target angle corresponding to a first target distance;

[0187] For each front wheel assembly, controlling a rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling a rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis in a second direction by the first target angle;

[0188] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π).

[0189] In one possible implementation, when the first position is the fourth position, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle, the control module 1720 is specifically configured to:

[0190] determining whether the control command includes a command to shorten the wheelbase of the vehicle;

[0191] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by a first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle;

[0192] Among them, the first target angle belongs to (0, π].

[0193] In one possible implementation, the rotary drive mechanism 3 in each wheel assembly includes a motor, a worm 31, and a worm wheel 32. The motor is fixedly mounted on the sleeve 01, the worm 31 is connected to the output shaft of the motor, and the worm wheel 32 is fixedly mounted on the outer periphery of the connecting end 211 and meshes with the worm 31.

[0194] In terms of controlling, for each front wheel assembly, the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis in a first direction by a first target angle, and controlling, for each rear wheel assembly, the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis in a second direction by the first target angle, the control module 1720 is specifically configured to:

[0195] Obtaining a first preset rotor angle corresponding to the first target angle;

[0196] controlling the rotation of a motor in the front wheel assembly and detecting a first actual rotation angle of a rotor of the motor in the front wheel assembly;

[0197] When the first actual rotation angle reaches the first preset rotor angle, controlling the motor in the front wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the front wheel assembly rotate around the rotation axis in the first direction to a first target angle;

[0198] as well as,

[0199] controlling the rotation of the motor in the rear wheel assembly and detecting a second actual rotation angle of the rotor of the motor in the rear wheel assembly;

[0200] When the second actual rotation angle reaches the first preset rotor angle, the motor in the rear wheel assembly is controlled to stop rotating so that the wheel assembly and the gear transmission assembly in the rear wheel assembly rotate around the rotation axis in the second direction to the first target angle.

[0201] In a possible implementation, the control module 1720 is further configured to: obtain a preset distance that is the same as the first target distance from the mapping relationship;

[0202] determining a preset angle corresponding to the same preset distance as the first target distance as the first target angle;

[0203] The mapping relationship includes a plurality of preset distances and preset angles corresponding to the plurality of preset distances.

[0204] In one possible implementation, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis, so as to reduce the fourth target distance to the third target distance, the control module 1720 is specifically configured to:

[0205] Obtaining a second target angle corresponding to a third target distance;

[0206] For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a second direction by a second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a first direction by a second target angle;

[0207] The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the second target angle belongs to (0, 2π).

[0208] In one possible implementation, when the third position is the second position, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by a second target angle, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by a second target angle, the control module 1720 is specifically configured to:

[0209] determining whether the control command includes a command to shorten the wheelbase of the vehicle;

[0210] If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by a second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by a second target angle;

[0211] Among them, the second target angle belongs to (0, π].

[0212] It should be noted that the vehicle control device provided in the above embodiment, when executing the vehicle control method, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment are of the same concept. Therefore, for details not disclosed in the device embodiment of this application, please refer to the above embodiment of the vehicle control method of this application, and no further details will be given here.

[0213] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0214] Figure 18 This is a hardware structure diagram of a vehicle control system provided in an embodiment of the present application.

[0215] For example, Figure 18 As shown, the vehicle 1800 includes: a memory 1801 and a processor 1802, wherein the memory 1801 stores an executable program code 18011, and the processor 1802 is used to call and execute the executable program code 18011 to perform a vehicle control method.

[0216] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle control method provided by an embodiment of the present application.

[0217] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0218] In the case of dividing each functional module into corresponding functional modules, the device may further include a receiving module and a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0219] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0220] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0221] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the like. The storage module may be a memory.

[0222] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0223] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above embodiment.

[0224] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.

[0225] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0226] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0227] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0228] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle comprising two front wheel assemblies and two rear wheel assemblies; For each of the two front wheel assemblies and the two rear wheel assemblies, the wheel assembly includes a support assembly, a wheel assembly, a gear transmission assembly and a rotation drive mechanism; The support assembly includes a sleeve and a rotating shaft; the rotating shaft is arranged in the sleeve and can rotate relative to the sleeve; The wheel assembly includes a wheel and a drive shaft, and the wheel can rotate around the axis of the drive shaft; The gear transmission assembly includes a gear box and a gear set; the gear set is arranged in the gear box, the input end of the gear set is connected to the output end of the rotating shaft, and the output end of the gear set is connected to the driving shaft; the gear box has a connecting end on the side close to the sleeve, and the connecting end is rotatably connected to the sleeve; and The rotary drive mechanism is connected to the gear box and the sleeve, and is used to drive the wheel assembly and the gear transmission assembly to rotate around the rotation axis of the support assembly; The vehicle control method includes: Receiving a vehicle control command; If the vehicle control instruction includes an instruction for adjusting the ground clearance of the vehicle, obtaining initial positions of support assemblies in the two front wheel assemblies and the two rear wheel assemblies to obtain four initial positions; If the four initial positions are all the first position and the adjustment instruction is an increase instruction, obtaining a first target distance corresponding to the increase instruction; wherein the first target distance is greater than a second target distance, and the second target distance is the ground clearance of the vehicle when the four initial positions are all the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is maximum, and the first position is a position other than the second position; Obtaining a first target angle corresponding to the first target distance; For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis, and controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis, so as to increase the second target distance to the first target distance; wherein the first direction is the rotation direction of the wheel when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π); or, If the four initial positions are all the third position and the adjustment instruction is a decrease instruction, a third target distance corresponding to the decrease instruction is obtained; wherein the third target distance is less than a fourth target distance, and the fourth target distance is the ground clearance of the vehicle when the four initial positions are all the third position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position, the ground clearance of the vehicle is minimum, the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position; For each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to reduce the fourth target distance to the third target distance.

2. The method according to claim 1, characterized in that When the first position is the fourth position, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis includes: determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle; If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a first direction by the first target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a second direction by the first target angle; Wherein, the first target angle belongs to (0, π].

3. The method according to any one of claims 1 or 2, characterized in that For the rotary drive mechanism in each wheel assembly, the rotary drive mechanism includes a motor, a worm and a worm wheel, the motor is fixedly mounted on the sleeve, the worm is connected to the output shaft of the motor, and the worm wheel is fixedly mounted on the outer periphery of the connecting end and meshes with the worm; For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis includes: Obtaining a first preset rotor angle corresponding to the first target angle; controlling the rotation of the motor in the front wheel assembly and detecting a first actual rotation angle of a rotor of the motor in the front wheel assembly; When the first actual rotation angle reaches the first preset rotor angle, controlling the motor in the front wheel assembly to stop rotating, so that the wheel assembly and the gear transmission assembly in the front wheel assembly rotate around the rotation axis in the first direction to the first target angle; as well as, controlling the rotation of the motor in the rear wheel assembly and detecting a second actual rotation angle of a rotor of the motor in the rear wheel assembly; When the second actual rotation angle reaches the first preset rotor angle, the motor in the rear wheel assembly is controlled to stop rotating so that the wheel assembly and the gear transmission assembly in the rear wheel assembly rotate around the rotation axis in the second direction to the first target angle.

4. The method according to claim 1, wherein The method further comprises: Acquire a preset distance that is the same as the first target distance from the mapping relationship; determining a preset angle corresponding to a preset distance that is the same as the first target distance as the first target angle; The mapping relationship includes a plurality of preset distances and preset angles corresponding to the plurality of preset distances.

5. The method according to claim 1, wherein For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate about the rotation axis, and for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate about the rotation axis, so as to reduce the fourth target distance to the third target distance includes: Acquire a second target angle corresponding to the third target distance; For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in a second direction by the second target angle; and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in a first direction by the second target angle; The first direction is the rotation direction of the wheels when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the second target angle belongs to (0, 2π).

6. The method according to claim 5, characterized in that When the third position is the second position, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by the second target angle, and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by the second target angle includes: determining whether the control instruction includes an instruction to shorten the wheelbase of the vehicle; If yes, for each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis in the second direction by the second target angle; and, for each rear wheel assembly, controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis in the first direction by the second target angle; Wherein, the second target angle belongs to (0, π].

7. A vehicle control device applied to the vehicle control method according to any one of claims 1 to 6, characterized in that: Configured on a vehicle, the vehicle includes two front wheel assemblies and two rear wheel assemblies; For each of the two front wheel assemblies and the two rear wheel assemblies, the wheel assembly includes a support assembly, a wheel assembly, a gear transmission assembly and a rotation drive mechanism; The support assembly includes a sleeve and a rotating shaft; the rotating shaft is arranged in the sleeve and can rotate relative to the sleeve; The wheel assembly includes a wheel and a drive shaft, and the wheel can rotate around the axis of the drive shaft; The gear transmission assembly includes a gear box and a gear set; the gear set is arranged in the gear box, the input end of the gear set is connected to the output end of the rotating shaft, and the output end of the gear set is connected to the driving shaft; the gear box has a connecting end on the side close to the sleeve, and the connecting end is rotatably connected to the sleeve; and The rotary drive mechanism is connected to the gear box and the sleeve, and is used to drive the wheel assembly and the gear transmission assembly to rotate around the rotation axis of the support assembly; The device comprises: A receiving module, used for receiving control instructions of the vehicle; a control module, configured to, when the control instruction includes an instruction for adjusting the ground clearance of the vehicle, obtain initial positions of support assemblies in the two front wheel assemblies and the two rear wheel assemblies, to obtain four initial positions; If the four initial positions are all the first position and the adjustment instruction is an increase instruction, obtaining a first target distance corresponding to the increase instruction; wherein the first target distance is greater than a second target distance, and the second target distance is the ground clearance of the vehicle when the four initial positions are all the first position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the second position, the ground clearance of the vehicle is maximum, and the first position is a position other than the second position; Obtaining a first target angle corresponding to the first target distance; For each front wheel assembly, controlling the rotation drive mechanism in the front wheel assembly to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate the first target angle in a first direction around the rotation axis, and controlling the rotation drive mechanism in the rear wheel assembly to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate the first target angle in a second direction around the rotation axis, so as to increase the second target distance to the first target distance; wherein the first direction is the rotation direction of the wheel when the vehicle is moving forward, the second direction is the opposite direction of the first direction, and the first target angle belongs to (0, 2π); or, If the four initial positions are all the third position and the adjustment instruction is a decrease instruction, a third target distance corresponding to the decrease instruction is obtained; wherein the third target distance is less than a fourth target distance, and the fourth target distance is the ground clearance of the vehicle when the four initial positions are all the third position; when the support assemblies in the two front wheel assemblies and the two rear wheel assemblies are all in the fourth position, the ground clearance of the vehicle is minimum, the third position is a position other than the fourth position, the first position includes the fourth position, and the third position includes the second position; For each front wheel assembly, the rotary drive mechanism in the front wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the front wheel assembly to rotate around the rotation axis, and, for each rear wheel assembly, the rotary drive mechanism in the rear wheel assembly is controlled to drive the wheel assembly and the gear transmission assembly in the rear wheel assembly to rotate around the rotation axis, so as to reduce the fourth target distance to the third target distance.

8. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so as to enable the vehicle to execute the method according to any one of claims 1 to 6.

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